{"id":"https://openalex.org/W3183399394","doi":"https://doi.org/10.1109/lra.2021.3125047","title":"Learning Risk-Aware Costmaps for Traversability in Challenging Environments","display_name":"Learning Risk-Aware Costmaps for Traversability in Challenging Environments","publication_year":2021,"publication_date":"2021-11-04","ids":{"openalex":"https://openalex.org/W3183399394","doi":"https://doi.org/10.1109/lra.2021.3125047","mag":"3183399394","pmid":"https://pubmed.ncbi.nlm.nih.gov/35005225"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3125047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3125047","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["crossref","datacite","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://arxiv.org/pdf/2107.11722.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101809215","display_name":"David D. Fan","orcid":"https://orcid.org/0000-0002-8261-1045"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"David D. Fan","raw_affiliation_strings":["David D. Fan and Ali-akbar Agha-mohammadi are with NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","David D. Fan and Evangelos A. Theodorou are with the Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","Institute for Robotics and Intelligent Machines, Georgia Institute of Technology,Atlanta,GA,USA"],"affiliations":[{"raw_affiliation_string":"David D. Fan and Ali-akbar Agha-mohammadi are with NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":[]},{"raw_affiliation_string":"David D. Fan and Evangelos A. Theodorou are with the Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":[]},{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042186658","display_name":"Ali\u2010akbar Agha\u2010mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-akbar Agha-mohammadi","raw_affiliation_strings":["David D. Fan and Ali-akbar Agha-mohammadi are with NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","NASA Jet Propulsion Laboratory/California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"David D. Fan and Ali-akbar Agha-mohammadi are with NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":[]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory/California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044505993","display_name":"Evangelos A. Theodorou","orcid":"https://orcid.org/0000-0002-0834-5738"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evangelos A. Theodorou","raw_affiliation_strings":["David D. Fan and Evangelos A. Theodorou are with the Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","Institute for Robotics and Intelligent Machines, Georgia Institute of Technology,Atlanta,GA,USA"],"affiliations":[{"raw_affiliation_string":"David D. Fan and Evangelos A. Theodorou are with the Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":[]},{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101809215"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.28220715,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.62488988,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"7","issue":"1","first_page":"279","last_page":"286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9830999970436096,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.972599983215332,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.725662112236023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6707220077514648},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6356585621833801},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6000322699546814},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5046659708023071},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4794656038284302},{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.4245792627334595},{"id":"https://openalex.org/keywords/cvar","display_name":"CVAR","score":0.42428505420684814},{"id":"https://openalex.org/keywords/risk-management","display_name":"Risk management","score":0.15066245198249817},{"id":"https://openalex.org/keywords/expected-shortfall","display_name":"Expected shortfall","score":0.14350813627243042}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.725662112236023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6707220077514648},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6356585621833801},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6000322699546814},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5046659708023071},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4794656038284302},{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.4245792627334595},{"id":"https://openalex.org/C2779922397","wikidata":"https://www.wikidata.org/wiki/Q5014755","display_name":"CVAR","level":4,"score":0.42428505420684814},{"id":"https://openalex.org/C32896092","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Risk management","level":2,"score":0.15066245198249817},{"id":"https://openalex.org/C5496284","wikidata":"https://www.wikidata.org/wiki/Q5420856","display_name":"Expected shortfall","level":3,"score":0.14350813627243042},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2021.3125047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3125047","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmid:35005225","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35005225","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE robotics and automation letters","raw_type":null},{"id":"mag:3183399394","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2107.11722.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:8740562","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8740562","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robot Autom Lett","raw_type":"Text"},{"id":"doi:10.48550/arxiv.2107.11722","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2107.11722","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"mag:3183399394","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2107.11722.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1516903196","https://openalex.org/W1647779468","https://openalex.org/W1836839941","https://openalex.org/W1974868116","https://openalex.org/W1989570555","https://openalex.org/W2019291268","https://openalex.org/W2036835578","https://openalex.org/W2046033161","https://openalex.org/W2118711140","https://openalex.org/W2123487311","https://openalex.org/W2167696704","https://openalex.org/W2265661972","https://openalex.org/W2744369598","https://openalex.org/W2765302304","https://openalex.org/W2772982620","https://openalex.org/W2798365772","https://openalex.org/W2809054577","https://openalex.org/W2909595458","https://openalex.org/W2912101818","https://openalex.org/W2949963197","https://openalex.org/W2950517871","https://openalex.org/W2960249673","https://openalex.org/W2963082979","https://openalex.org/W2963121255","https://openalex.org/W2963255431","https://openalex.org/W2963727135","https://openalex.org/W2963757175","https://openalex.org/W2972019882","https://openalex.org/W2977050735","https://openalex.org/W3021487874","https://openalex.org/W3037622168","https://openalex.org/W3039984786","https://openalex.org/W3080622745","https://openalex.org/W3109754119","https://openalex.org/W3118854228","https://openalex.org/W3120736150","https://openalex.org/W3126614957","https://openalex.org/W3139022700","https://openalex.org/W3159254889","https://openalex.org/W3167876287","https://openalex.org/W3173423885","https://openalex.org/W3174748154","https://openalex.org/W3185523273","https://openalex.org/W3205612185","https://openalex.org/W4213291213","https://openalex.org/W4213389237","https://openalex.org/W4241996101","https://openalex.org/W4249736682","https://openalex.org/W4287186233","https://openalex.org/W6630841318","https://openalex.org/W6762625262","https://openalex.org/W6792068349"],"related_works":["https://openalex.org/W3212567339","https://openalex.org/W2975177380","https://openalex.org/W2967545288","https://openalex.org/W3120325062","https://openalex.org/W3213888950","https://openalex.org/W2889926399","https://openalex.org/W3098650412","https://openalex.org/W2981620638","https://openalex.org/W2737856893","https://openalex.org/W3100964982","https://openalex.org/W2106237563","https://openalex.org/W2136265843","https://openalex.org/W2209545074","https://openalex.org/W3089935474","https://openalex.org/W2196891448","https://openalex.org/W2196524641","https://openalex.org/W3000806363","https://openalex.org/W2617422950","https://openalex.org/W2153676697","https://openalex.org/W3089819400"],"abstract_inverted_index":{"One":[0],"of":[1,29,55,67,87,126,137,148],"the":[2,19,53,56,68,85,97,124,135,138,146,152,163],"main":[3],"challenges":[4],"in":[5,11,31],"autonomous":[6],"robotic":[7],"exploration":[8],"and":[9,13,37,45,50,78,175,192,221],"navigation":[10],"unknown":[12],"unstructured":[14,213],"environments":[15,214],"is":[16,91,182,193],"determining":[17],"where":[18],"robot":[20,210],"can":[21,72,79],"or":[22],"cannot":[23],"safely":[24],"move.":[25],"A":[26],"significant":[27],"source":[28],"difficulty":[30],"this":[32,61,104,113,142,159],"determination":[33],"arises":[34],"from":[35,40,145],"stochasticity":[36],"uncertainty,":[38],"coming":[39],"localization":[41],"error,":[42],"sensor":[43],"sparsity":[44],"noise,":[46],"difficult-to-model":[47],"robot-ground":[48],"interactions,":[49],"disturbances":[51],"to":[52,60,75,112,185],"motion":[54],"vehicle.":[57],"Classical":[58],"approaches":[59],"problem":[62,144],"rely":[63],"on":[64,205],"geometric":[65],"analysis":[66],"surrounding":[69],"terrain,":[70],"which":[71,181],"be":[73,80],"prone":[74],"modeling":[76,84],"errors":[77],"computationally":[81,195],"expensive.":[82],"Moreover,":[83],"distribution":[86,125],"uncertain":[88],"traversability":[89,127,179],"costs":[90],"a":[92,108,117,168,178,208],"difficult":[93],"task,":[94],"compounded":[95],"by":[96,133],"various":[98],"error":[99],"sources":[100],"mentioned":[101],"above.":[102],"In":[103],"work,":[105],"we":[106,130,140],"take":[107],"principled":[109],"learning":[110,123,143,149],"approach":[111,160],"problem.":[114],"We":[115,156,201],"introduce":[116],"neural":[118],"network":[119],"architecture":[120],"for":[121],"robustly":[122],"costs.":[128],"Because":[129],"are":[131],"motivated":[132],"preserving":[134],"life":[136],"robot,":[139],"tackle":[141],"perspective":[147],"tail-risks,":[150],"i.e.":[151],"Conditional":[153],"Value-at-Risk":[154],"(CVaR).":[155],"show":[157],"that":[158],"reliably":[161],"learns":[162],"expected":[164],"tail":[165,190],"risk":[166,171],"given":[167],"desired":[169],"probability":[170],"threshold":[172],"between":[173],"0":[174],"1,":[176],"producing":[177],"costmap":[180],"more":[183,187,194],"robust":[184],"outliers,":[186],"accurately":[188],"captures":[189],"risks,":[191],"efficient,":[196],"when":[197],"compared":[198],"against":[199],"baselines.":[200],"validate":[202],"our":[203],"method":[204],"data":[206],"collected":[207],"legged":[209],"navigating":[211],"challenging,":[212],"including":[215],"an":[216],"abandoned":[217],"subway,":[218],"limestone":[219],"caves,":[220],"lava":[222],"tube":[223],"caves.":[224]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}